Commercial vehicle multi-camera lane line departure early warning method and system

The invention discloses a multi-camera lane line departure early warning method and system for a commercial vehicle. The method comprises the steps that the commercial vehicle collects road images including lane line visual information in front and at the rear side through multiple cameras; based on the acquired image, detecting the lane line position of the front-view camera by adopting deep learning, and detecting the lane line positions of the rear-view cameras on the two sides by adopting digital image processing; the lane line deviation distance and deviation speed are calculated according to the lane line position information, finally, the early warning level is judged by combining the two calculation results, and corresponding early warning information is sent; the system comprises an information acquisition module, a detection module and an early warning module. According to the lane line departure early warning method, the departure distance and the departure speed of the lane line and the vehicle ar